WO2011148946A1 - Dispositif de sécurité de machine de travail - Google Patents

Dispositif de sécurité de machine de travail Download PDF

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Publication number
WO2011148946A1
WO2011148946A1 PCT/JP2011/061886 JP2011061886W WO2011148946A1 WO 2011148946 A1 WO2011148946 A1 WO 2011148946A1 JP 2011061886 W JP2011061886 W JP 2011061886W WO 2011148946 A1 WO2011148946 A1 WO 2011148946A1
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WIPO (PCT)
Prior art keywords
zmp
work machine
stability
work
warning
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PCT/JP2011/061886
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English (en)
Japanese (ja)
Inventor
麻里子 水落
啓範 石井
山口　仁一
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to KR1020127030464A priority Critical patent/KR101790150B1/ko
Priority to EP11786645.9A priority patent/EP2578757B1/fr
Priority to JP2012517279A priority patent/JP5491627B2/ja
Priority to CN201180024959.3A priority patent/CN102906347B/zh
Priority to US13/699,094 priority patent/US8768581B2/en
Publication of WO2011148946A1 publication Critical patent/WO2011148946A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the present invention relates to a safety device for a work machine, and more particularly to a safety device for notifying an operator of information related to machine stability in a self-propelled work machine used for dismantling work, construction work, civil engineering work, and the like.
  • a revolving body is pivotably mounted on the upper part of a traveling body that is driven by a power system, and an articulated work front is attached to the revolving body.
  • a work machine used for structure demolition work, waste demolition work, civil engineering construction work, etc.
  • a revolving body is pivotably mounted on the upper part of a traveling body that is driven by a power system, and an articulated work front is attached to the revolving body.
  • An example of such a work machine is a demolition work machine based on a hydraulic excavator. This demolition work machine connects the work front consisting of a boom and an arm to the swivel so that it can swing up and down, and attaches work tools such as grapple, bucket, breaker, crusher to the tip of the arm, Work such as waste demolition work can be done.
  • Such a work machine performs work by changing various postures with the boom, arm, and work tool constituting the work front projecting outward from the revolving structure. May fall out of balance. For this reason, the operator needs to work safely while accurately grasping the current stability of the work machine or the possibility of falling.
  • the stability refers to the extent to which the work machine can continue working on the work surface stably without falling down.
  • the center of gravity position and the load load of the crawler crane are calculated from the output values of the load meter installed in the outrigger portion of the crawler crane and the inclinometer installed in the crawler, In the figure, it is determined whether the calculated center of gravity position is in a predetermined region, and the center of gravity position is displayed on a monitor using a color determined for each region.
  • Patent Document 2 includes an outrigger extension width sensor and an outrigger reaction force sensor, calculates a fall limit from an output value of the outrigger extension width sensor, and falls in front, rear, left and right from an output value of the outrigger reaction force sensor.
  • the calculated center of gravity of the crane is calculated from the output values of the outrigger extension width sensor and the outrigger reaction force sensor, and these are displayed on the display device. If there is a risk of falling, a warning is given. And a device that prevents the fall by fixing the passive joint of the outrigger is shown.
  • the work machine is used for various work, and there is a case where a quick operation is required or a change of operation occurs.
  • inertial force is generated by the movement of the work front or the work machine itself, which is relatively limited in operations such as crane work, compared to quasi-static work with little change in operation.
  • the inertial force due to the dynamic (rapid) movement of the machine has a great influence on the stability.
  • the influence of such dynamic motion is not taken into consideration.
  • the present invention has been made in view of the above-described problems, and provides a safety device for a work machine that can make an operator easily and accurately recognize the current stability at the time of work including a work front operation or turning. For the purpose.
  • the present invention employs the following means in order to solve the above problems.
  • a safety device for a work machine comprising a traveling body, a work machine body mounted on the travel body, a work front swingably attached to the work machine body in a vertical direction, and a control device for controlling the work front
  • the control device includes a plurality of ZMP calculating means for calculating the coordinates of the ZMP using position information, acceleration information, and external force information of the movable parts of the main body and the traveling body including the work front, and a plurality of grounds of the work machine.
  • a display device for displaying the ZMP position of the work machine relative to the support polygon, wherein the ZMP calculating means and the stability calculating means include the ZMP position and the warning area.
  • the present invention has the above-described configuration, it is possible to provide a safety device for a work machine capable of allowing an operator to easily and accurately recognize the current stability during work including operation front operation or turning. it can.
  • 1 is a side view showing a work machine according to a first embodiment. It is a block diagram which shows the safety device of the working machine concerning 1st Embodiment. It is a side view which shows the sensor structure of the working machine concerning 1st Embodiment. It is a side view which shows the working machine model for ZMP calculation concerning 1st Embodiment. It is a schematic diagram which shows the support polygon and fall warning area
  • FIG. 1 is a side view of a work machine to which the present invention is applied.
  • the swing body 3 is attached to the upper part of the traveling body 2 so as to be capable of swinging, and the swing body 3 is driven to swing around the central shaft 3 c by the swing motor 7.
  • An engine 5 that constitutes a cab 4 and a power system is attached to the revolving structure 3.
  • a counterweight 8 is provided behind the revolving structure 3.
  • 30 is the ground surface.
  • the swing body 3 further includes an operation control device that controls the start / stop of the work machine 1 and the overall operation.
  • the boom cylinder 11 is a drive actuator that rotates the boom 10 around the fulcrum 40, and is connected to the swing body 3 and the boom 10.
  • the arm cylinder 13 is a drive actuator that rotates the arm 12 around a fulcrum 41, and is connected to the boom 10 and the arm 12.
  • the work tool cylinder 15 is a drive actuator that rotates the bucket 23 around the fulcrum 42, and is connected to the bucket 23 via the link 16 and is connected to the arm 12 via the link 17.
  • the bucket 23 can be arbitrarily replaced with other work tools (not shown) such as grapples, cutters, and breakers.
  • an operation lever 50 for inputting a movement instruction for each drive actuator from the operator, and the stability of the work machine 1.
  • a display device 61d for displaying information, fall warning information, etc., an alarm device 63d for emitting a fall warning sound of the work machine 1, and a user setting input means 55 for an operator to set a safety device are provided.
  • FIG. 2 is a block diagram showing a schematic configuration related to the safety device.
  • the safety device includes a state quantity detection means (sensor) 49 attached to each part of the work machine 1 to detect the posture of the work machine 1, a user setting input means 55 for the operator to set the safety device, a state A control device 60 that performs a predetermined calculation based on a detection value of the amount detection means 49, a display device 61d that presents stability information to an operator, and an alarm device 63d are provided.
  • the control device 60 indicates a part related to the safety device among the control devices of the work machine 1.
  • the control device 60 further includes an input unit 60x to which signals of the state quantity detection unit 49 and the user setting input unit 55 are input, a ZMP calculation unit 60f that receives the signal input to the input unit 60x and calculates the ZMP position 70, From the ZMP storage unit 60g that stores the calculation result of the ZMP calculation unit 60f for a predetermined period, the stability calculation unit 60d that calculates the stability and the possibility of falling from the calculation result of the ZMP calculation unit 60f, and the stability calculation unit 60d
  • the display control means 61c and the alarm control means 63c for determining the output to the display device 61d and the alarm device 63d, respectively, and the output signals from the display control means 61c and the alarm control means 63c are respectively displayed on the display device 61d and the alarm device 63d.
  • An output unit 60y that outputs to the device 63d is provided.
  • the ZMP calculating means 60f
  • the control device 60 includes a microcomputer (not shown) including a CPU, a ROM, a RAM, a storage unit including a flash memory, and the like, and a computer program and peripheral circuits stored in the ROM, and operates the computer program on the CPU. To perform arithmetic processing.
  • a microcomputer including a CPU, a ROM, a RAM, a storage unit including a flash memory, and the like, and a computer program and peripheral circuits stored in the ROM, and operates the computer program on the CPU. To perform arithmetic processing.
  • the present invention supports safe work by presenting the results of ZMP position calculation and stability determination calculated by the control device 60 so that the operator can instantly and accurately recognize the results via the display device 61d and the alarm device 63d. To do.
  • the upper swing body 3 is provided with an attitude sensor 3b for detecting the inclination of the machine reference coordinate system with respect to the world coordinate system with the Z axis as the direction opposite to gravity, which will be described later.
  • the posture sensor 3b is, for example, an inclination angle sensor, and detects the inclination of the machine reference coordinate system with respect to the world coordinate system by detecting the inclination angle of the upper swing body 3.
  • a turning angle sensor 3 s for detecting the turning angle of the lower traveling body 2 and the upper turning body 3 is provided on the turning center line 3 c of the upper turning body 3.
  • a boom angle sensor (angle sensor) 40 a for measuring the rotation angle of the boom 10 is provided at the fulcrum 40 of the upper swing body 3 and the boom 10.
  • the fulcrum 41 of the boom 10 and the arm 12 is provided with an arm angle sensor (angle sensor) 41 a for measuring the rotation angle of the arm 12.
  • a bucket angle sensor 42a for measuring the rotation angle of the bucket 23 is provided.
  • ⁇ Acceleration sensor> Near the center of gravity of the lower traveling body 2, the upper swing body 3, the boom 10, and the arm 12, a lower traveling body acceleration sensor 2a, an upper swing body acceleration sensor 3a, a boom acceleration sensor 10a, and an arm acceleration sensor 12a are provided. Yes.
  • Pin force sensors 43a and 44a are provided on the pin 43 connecting the arm 12 and the bucket 23 and the pin 44 connecting the link 16 and the bucket 23, respectively.
  • the pin force sensors 43a and 44a detect the magnitude and direction of the force (external force) applied to the pins 43 and 44 by, for example, inserting a strain gauge inside a cylindrical shape and measuring the strain generated in the strain gauge. .
  • FIG. 4 shows a ZMP calculation work model (side surface), a world coordinate system (OX'Y'Z '), and a machine reference coordinate system (O-XYZ).
  • the world coordinate system (OX'Y'Z ') is based on the direction of gravity and the direction opposite to gravity is the Z axis.
  • the machine reference coordinate system (O-XYZ) is based on the lower traveling body 2, and the origin is in contact with the ground surface 30 on the turning center line 3c of the upper rotating body 3 as shown in FIG.
  • the X axis is set in the front-rear direction of the lower traveling body 2
  • the Y axis is set in the left-right direction
  • the Z axis is set in the direction of the turning center line 3c.
  • the relationship between the world coordinate system and the machine reference coordinate system is detected using the above-described attitude sensor, and the ZMP calculation means 60f performs an operation based on the machine reference coordinate system.
  • a concentrated mass model in which mass is concentrated on the center of gravity of each component is used as a model for calculating the ZMP 70 in consideration of simplicity of mounting.
  • the mass points 2P, 3P, 10P, 12P of the lower traveling body 2, the upper swing body 3, the boom 10, and the arm 12 are set to the gravity center positions of the respective constituent members, and the masses of the respective mass points are m2, m3, m10, m12.
  • the position vectors of the respective mass points are r2, r3, r10, r12, and the acceleration vectors are r ′′ 2, r ′′ 3, r ′′ 10, r ′′ 12.
  • the mass point setting method is not limited to this, and for example, a portion where the mass is concentrated (such as the engine 5 and the counterweight 8 shown in FIG. 1) may be added.
  • the external force is applied to the tip of the bucket 23 by working with the bucket 23. Since the bucket 23 is connected to the work front 6 via the pins 43 and 44, the gravity and inertia force of the bucket 23 and all external forces applied to the bucket 23 in the X-axis direction and the Z-axis direction are As the external force vectors F43 and F44 applied to 44, ZMP coordinates are calculated. Here, it is assumed that the position vectors of the pin 43 and the pin 44 which are external force action points are s43 and s44.
  • the ZMP stability criterion is based on the D'Alembert principle. Note that the concept of ZMP and the ZMP stability criterion are described in "LEGGED LOCOMATION ROBOTS: Miomir Vukobratovic (" Walking Robot and Artificial Feet: Translated by Ichiro Kato, Nikkan Kogyo Shimbun ").
  • the ZMP equation is derived as follows from the balance of moments generated by gravity, inertial force, and external force.
  • rzmp ZMP position vector mi: mass of the i-th mass point ri: position vector of the i-th mass point r "i: acceleration vector applied to the i-th mass point (including gravitational acceleration) Mj: j-th external force moment sk: k-th external force action point position vector Fk: k-th external force vector
  • mi mass of the i-th mass point
  • ri position vector of the i-th mass point
  • i acceleration vector applied to the i-th mass point (including gravitational acceleration)
  • Mj j-th external force moment
  • sk k-th external force action point position vector
  • Fk k-th external force vector
  • the vector is a three-dimensional vector composed of an X component, a Y component, and a Z component.
  • the first term on the left side of the above equation (1) is the sum of moments around the ZMP 70 (see FIG. 3) (radius ri-rzmp) generated by the acceleration component (including gravitational acceleration) applied at each mass point mi. Show.
  • the second term on the left side of the above formula (1) indicates the total sum of the external force moments Mj acting on the work machine 1.
  • the third term on the left side of the above equation (1) represents the sum of moments around ZMP 70 (radius sk ⁇ rzmp) generated by external force Fk (where the point of action of k-th external force vector Fk is sk).
  • Expression (1) is obtained by adding the sum of moments around the ZMP 70 (radius ri-rzmp) generated by the acceleration component (including gravitational acceleration) applied at each mass point mi, the sum of the external force moments Mj, and the external force Fk. It is described that the sum of moments around the ZMP 70 (radius sk ⁇ rzmp) generated by the k-th external force Fk acting point is sk.
  • the ZMP 70 on the ground surface 30 can be calculated from the ZMP equation shown in Equation (1).
  • the ZMP equation when the object is stopped and only gravity works is obtained by using the gravitational acceleration vector g. And coincides with the projection point of the static center of gravity on the ground surface. Therefore, ZMP can be treated as a projected point of the center of gravity considering dynamic state and static state, and when ZMP is used as an index, the object is stationary and when it is moving Both can be handled uniformly.
  • the stability area and the current stability are projected onto the ground surface of the work machine. It can be shown on the top view and is easy to understand visually.
  • a user setting input means 55 is composed of a plurality of input buttons, etc., and an operator sets a warning method, a safety factor, and the like via the user setting input means 55 according to work contents and individual preference.
  • the ZMP calculating means 60f includes a link calculating means 60a for calculating the position vector, acceleration vector and external force vector of each mass point based on the machine reference coordinate system (O-XYZ) from the detection value of the state quantity detecting means 49, and a machine reference. It comprises ZMP calculation means 60b for calculating the ZMP 70a using the position vector, acceleration vector and external force vector of each mass point converted into the coordinate system.
  • the link calculation means 60a the values of the attitude sensor 3b provided in the revolving structure 3 shown in FIG. 3, the turning angle sensors 3s, the boom angle sensor 40a, the arm angle sensor 41a, and the bucket angle sensor 42a provided in each part of the work machine 1 are used. Using the detected value, kinematics calculation is sequentially performed for each link. Then, the position vectors r2, r3, r10, r12 of the mass points 2P, 3P, 10P, 12P shown in FIG. 4 and detection of the traveling body acceleration sensor 2a, the turning body acceleration sensor 3a, the boom acceleration sensor 10a, and the arm acceleration sensor 12a.
  • the vectors F43 and F44 are converted into values based on the machine reference coordinate system (O-XYZ).
  • a well-known method can be used as the kinematic calculation method. For example, the method described in “Robot Control Basics: Yoshikawa Tsuneo, Corona (1988)” can be used.
  • the data sent from the link calculation means 60a to the ZMP calculation means 60b is the position vector, acceleration vector and external force vector of each mass point with reference to the machine reference coordinate system (O-XYZ).
  • the ZMP calculating means 60 b calculates the ZMP 70 a using the position vector, acceleration vector, and external force vector of each mass point converted to the machine reference coordinate system, and outputs the ZMP 70 a as the ZMP position 70.
  • Equation (1) is solved under such conditions, and the X coordinate rzmpx of the ZMP 70a is calculated as follows.
  • the Y coordinate rzmpy of the ZMP 70a is calculated as follows.
  • m is the mass of each mass point 2P, 3P, 10P, and 12P shown in FIG. 4, and the mass m2, m3, m10, and m12 of each mass point is substituted.
  • r ′′ is the acceleration of each mass point, and the accelerations r ′′ 2, r ′′ 3, r ′′ 10, r ′′ 12 of each mass point are substituted.
  • s shows the position vector of the pins 43 and 44 which are external force action points, and s43 and s44 are substituted.
  • F represents an external force vector applied to the pins 43 and 44, which are external force action points, and F43 and F44 are substituted.
  • the ZMP computing unit 60b can calculate the coordinates of the ZMP 70a.
  • the calculated ZMP 70a is sent as the ZMP position 70 to the stability calculation means 60d and the ZMP storage means 60g.
  • the ZMP storage unit 60g stores the ZMP position 70 calculated by the ZMP calculation unit 60f as a ZMP position history 72 for a predetermined period, and discards data that has passed the predetermined period.
  • the stability calculation means 60d in the first embodiment is a support polygon calculation means 60m that calculates a support polygon L formed at the contact point between the work machine 1 and the ground surface 30 as shown in FIG.
  • a normal region J having a sufficiently low possibility of falling and a fall warning region N having a higher possibility of falling are set, and the ZMP position 70 is It comprises stability evaluation means 60n for evaluating the stability by determining which region it is in.
  • the support polygon L is substantially equal to the planar shape of the traveling body 2. Therefore, when the planar shape of the traveling body 2 is rectangular, the support polygon L is rectangular as shown in FIG. More specifically, the support polygon L in the case of having a crawler as the lower traveling body 2 is a line connecting the center point of the left and right sprockets with the front boundary line and the center point of the left and right idlers. Is a quadrangle with a rear boundary line and left and right track link outer ends as left and right boundary lines. The front and rear boundaries may be the ground contact points of the frontmost lower roller and the rearmost lower roller.
  • the work machine 1 shown in FIG. 1 has the blade 18, and when the blade 18 is in contact with the ground surface 30, the support polygon L expands to include the blade bottom. Further, in the jack-up operation in which the bucket 23 is pressed against the ground surface to lift the traveling body 2, the support polygon L is formed by the two end points on the grounding side of the traveling body 2 and the grounding point of the bucket 23. It becomes a polygon. Thus, since the shape of the support polygon L changes discontinuously depending on the ground contact state of the work machine 1, the support polygon calculation means 60m monitors the ground contact state of the work machine 1, and the support polygon according to the ground contact state. Set L.
  • the boundary K between the normal region J and the fall warning region N is set inside the support polygon L.
  • the boundary K is a polygon that is reduced to the center point side according to the ratio determined by the support polygon L according to the safety factor, or the length that is determined by the support polygon L according to the safety factor. Set to polygon moved inward.
  • the stability evaluation means 60n when the ZMP position 70 calculated by the ZMP calculation means 60f is in the normal region J, it is determined that the stability of the work machine 1 is sufficiently high, while the ZMP position 70 is a fall warning. If it is in the area N, it is determined that the work machine may fall over.
  • the safety factor may be a predetermined value (for example, 80%) set in advance, or may be changed depending on the proficiency level of the operator who operates the work machine 1, the work content road surface, the surrounding conditions, and the like. It may be a value. In this case, a configuration in which the safety factor is automatically set from information given in advance, output values of various sensors, or a configuration in which the operator or work manager arbitrarily sets the safety factor using the user setting input device 55 is conceivable.
  • the safety factor may be changed during the work according to the work state of the work machine 1, or a different value may be used for the front, rear, left and right.
  • the ZMP position 70 tends to move to the valley side of the inclined surface, and tends to easily fall to the valley side compared to the mountain side. Therefore, according to the inclination angle, as shown in FIG. 5, the fall warning area N is set so that the valley side becomes wider.
  • a method of using the detected value of the attitude sensor 3b in addition to the input by the operator is conceivable as the inclination angle.
  • the fall warning area N is set so that the other direction is wider than the direction of the work front 6.
  • an operator or a work manager may manually change the setting as needed, and a configuration using GPS, map information, work CAD drawings, and the like may be considered.
  • a configuration using GPS, map information, work CAD drawings, and the like may be considered.
  • the ZMP position history 72 stored in the ZMP storage means 60g is used, and if any one of the ZMP position 70 and the ZMP position history 72 is in the fall warning area N, a fall is possible. You may comprise so that it may determine with the property. In other words, since it is difficult for the operator to grasp the fluctuating information one by one in an operation in which the ZMP position fluctuates in a relatively short time, history information of about several seconds is recorded and a determination is made based on this.
  • the necessity of warning is determined from the positional relationship between the ZMP position 70 and the ZMP position history 72 in order to reduce a decrease in work efficiency due to excessive warning and to support the stability recovery operation by the operator. It may be configured.
  • the ZMP history value 72 in addition to the ZMP position 70 as an evaluation index, it is possible to determine whether the current operation of the work machine 1 is an operation that restores stability or an operation that degrades the stability. Safe work can be supported by more appropriate commands. Moreover, since the case where recovery
  • the boundary K between the normal area J and the fall warning area N is configured to divide the fall warning area N into two or more areas by setting two or more boundaries K step by step. Also good.
  • the fall warning area N is divided into the fall warning area N1 and the fall warning area N2 as shown in FIG. 5B, for example, when the ZMP position 70 is in the fall warning area N2, a preliminary warning is given. Can be ordered to avoid risks at an early stage.
  • FIG. 7 is a diagram for explaining a method used in the determination by calculating the stability numerically in addition to the determination of the possibility of falling by the region determination in the stability evaluation means 60n.
  • the stability can be grasped quantitatively and continuously.
  • a case where the support polygon is rectangular will be described as an example.
  • a straight line Lz passing through the center Lc (Xlc, Ylc) of the support polygon L and the ZMP position 70, and an intersection C (Xc, Yc) between the straight line Lz and the sides of the support polygon are calculated.
  • the stability ⁇ is (See FIG. 7A).
  • the stability ⁇ takes a value between 0 and 1, and the larger the value, the closer the ZMP position is to the center of the support polygon, which means higher stability.
  • the stability ⁇ may be defined as an evaluation of the ratio between the maximum value that can be taken in the support polygon and the ZMP position 70 for each of the X and Y coordinates (FIG. 7). (See (b)). At this time, the ratio in the X-axis direction And Y axis direction ratio A smaller value is selected as the stability ⁇ .
  • Xmax is the maximum value of the X coordinate that can be taken within the support polygon
  • Ymax is the maximum value of the Y coordinate that can be taken within the support polygon.
  • the stability evaluation means 60n determines that the stability is sufficiently high for the display device and the alarm means, the stability evaluation means 60n outputs the ZMP position 70, the ZMP position history 72 and the stability ⁇ , and determines that there is a possibility of falling. In such a case, a warning command is output in addition to the ZMP position 70, the ZMP position history 72, and the stability ⁇ .
  • the display means 61 is a display control means 61c that determines display contents according to a command from the stability calculation means 60d, and a device that includes a cathode ray tube, a liquid crystal panel, and the like.
  • the display device 61d displays stability information and the possibility of falling.
  • the display device 61d displays a top view 61b of the work machine 1 as shown in FIG. 8, and displays a fall warning area N, a ZMP position 70, and a ZMP position history 72 on the top view 61b.
  • a shape or a different color from the ZMP position 70 may be used, or old data may be displayed smaller than new data.
  • ZMP position history 72 displayed in FIG. 8A.
  • a shape or a different color from the ZMP position 70 may be used, or old data may be displayed smaller than new data.
  • an arrow from the ZMP position history 72 to the ZMP position 70 may be displayed.
  • the stability ⁇ calculated by the stability calculating means 60d is displayed using a bar 61h as shown in FIG.
  • FIG. 9 shows an example in which the bar 61h showing the stability ⁇ is arranged at the lower part of the display device 61d and the indicating unit is moved to the right as the stability decreases, the indicating unit moves in the vertical direction according to the stability.
  • the bar 61h may be displayed on the upper side, the left side, or the right side of the display device 61d.
  • the traveling body 2 in the top view 61 b is rotated reversely with respect to the turning body 3 by the turning angle and displayed.
  • the front of the operator's field of view and the upper part of the display device 61d can always be matched, and the traveling direction can be easily confirmed.
  • the display device 61d notifies the possibility of falling according to a command from the stability calculating means 60d.
  • a warning message 61m using characters or illustrations is displayed on the upper or lower portion of the display device 61d.
  • a three-dimensional illustration showing an overview of the work machine 1 is displayed instead of the top view 61b. May be displayed as follows.
  • the background color of the display device 61d is changed when there is a possibility of falling. For example, the normal background color (stable state) is set to white, and is changed to red when a warning command is issued.
  • the background color can be changed in several stages. For example, the normal time is set to white, yellow when the stability ⁇ is slightly low, orange close to red as the stability ⁇ is low, and red when a warning command is issued. By changing the background color in this way, the operator can instantly grasp the possibility of falling without gazing at the display screen.
  • the example of changing the background color of the display has been described above, but the display colors of the fall warning area N, the ZMP position 70, and the ZMP position history 72 may be changed in the same manner as the background color.
  • the display device 61d may also be configured to serve as user setting input means 55 for the operator to set warning levels, alarms, and the like.
  • the display device 61d has input means such as a touch panel, and displays a setting input icon 61k as shown in FIG.
  • the work machine 1 includes an alarm unit 63 that issues an alarm according to the stability ⁇ .
  • the warning means 63 is a warning control means 63c that determines and outputs a warning method based on a command from the stability calculation means 60d, and a device that generates a warning sound such as a buzzer.
  • the warning means 63 is a command from the warning control means 63c.
  • an alarm device 63d that issues an alarm such as a warning sound.
  • the alarm device 63d is provided in the cab 4.
  • the warning control means 63c instructs to change the warning sound according to the stability ⁇ . For example, the sound volume increases as the stability ⁇ decreases, the warning sound interval decreases as the stability ⁇ decreases, and the pitch of the warning sound changes according to the stability ⁇ I do.
  • the alarm device 63d may be installed outside the work machine 1. With such a configuration, it is possible to notify a worker who performs work around the work machine 1 of the possibility of the work machine 1 toppling over.
  • FIG. 9 shows an example in which the traveling body 2 in the top view is rotated backward with respect to the turning body 3 by the turning angle and the direction of the work front is always directed upward, as shown in FIG.
  • the direction of the traveling body 2 in the top view may be fixed, and the revolving body 3 may be rotated and displayed with respect to the traveling body 2 by the turning angle.
  • This display method is particularly effective when it is necessary to grasp the positional relationship with surrounding objects.
  • the operation lever is usually provided at an operation place of the operator other than on the work machine 1.
  • a display device and an alarm device may also be installed at a place where an operator operates.
  • ZMP calculation and stability calculation it is possible to reduce the amount of communication data and make it less susceptible to communication delays.
  • the display device As another form of use of the display device, a case where the work manager confirms the status of the work machine 1 from a remote place is conceivable.
  • a manager display device is provided in a place other than on the work machine 1 and the status of the work machine 1 is displayed by performing data transfer using wireless or the like. be able to.
  • the display on the manager display device may be the same as that on the driver, or may be displayed with information such as the command amount to each actuator added.
  • the work content determination means 61i preliminarily sets and stores characteristic operation patterns in a plurality of work such as suspended load work, excavation work, dismantling work, and traveling, and a fall warning area N suitable for each work content.
  • a lever operation amount sensor 51 for detecting an input command amount to each of the drive actuators 11, 13, and 15 is installed, and a work front posture calculated by the ZMP calculation means, a bucket external force, and a history of detection values of the lever operation amount sensor 51 are used.
  • the closest one of the preset operation patterns is selected, and the corresponding fall warning area N is output.
  • the recovery operation calculation means 60l determines which of the operation levers 50 is operated in which direction to restore the stability.
  • the recovery operation calculating means 60l can determine the operation method for recovering the stability and output it to the display device 61d, thereby supporting the stability recovery operation and reducing the possibility of falling.
  • each operation lever 50 moves from the ZMP position 70 toward the center of the support polygon L from the attitude of the work machine 1 and the ZMP position 70.
  • the operation method for moving the ZMP position 70 in the center direction is output to the display means 61.
  • the display means 61 For example, when the direction of the work front is in front of the traveling body 2 and the ZMP position 70 is in front of the normal area N, the arm is slowly pulled forward or the direction of the work front is obliquely inclined with respect to the traveling body. It is preferable to perform an operation such as turning so that
  • the display unit 61 displays the calculation result of the recovery operation calculation unit 60l on the display device 61d as necessary.
  • the ZMP position 70 is displayed on the display device 61d, and the display device 61d and the alarm device 63d warn of a decrease in stability, thereby presenting the machine stability information to the operator.
  • a method for presenting stability information a method using the operation lever 50 or the driver's seat 4 can be considered. For example, when a warning command is issued in the stability calculation means, the warning can be issued by vibrating the operation lever 50 or the driver's seat 4. Further, by increasing the operational feeling of the operation direction of the operation lever 50 in the direction of deteriorating the stability, it is possible to notify the possibility of falling and support the stable recovery operation.
  • the stability information of the machine by a method other than the display device 61d and the alarm device 63d, the stability can be obtained even when the operator is not looking at the display device 61d or in an environment where the noise is loud and the alarm is difficult to hear. Recognize information and lead to safe operation.
  • the alarm device 63d may be installed in a plurality of directions and locations such as front, rear, left and right with respect to the driver's seat 4 to generate a warning sound or the like from the alarm device in the direction of the ZMP position 70.
  • a warning in accordance with the direction of the ZMP position 70, it is possible to recognize the stability information including the direction to be carefully watched even when the operator is not looking at the display device 61d.
  • the state quantity detection means 49 of the second embodiment includes an attitude sensor 3b, a boom angle sensor 40a, an arm angle sensor 41a, a bucket angle sensor 42a, and pin force sensors 43a and 44a among the sensors shown in the first embodiment. Is provided.
  • ⁇ ZMP calculation means Link calculation is performed as in the first embodiment.
  • the detected values of the attitude sensor 3b, the turning angle sensor 3s, the boom angle sensor 40a, and the pin force sensors 43a and 44a arranged in each part of the work machine 1 are sent to the link calculation means 60a.
  • the position vectors r2, r3, r10, r12 of the mass points 2P, 3P, 10P, 12P shown in FIG. 4 the position vectors s43, s44 of the pins 43, 44, and the external force vectors F43, F44 acting on the pins 43, 44 are machine-based. Conversion to a value based on the coordinate system (O-XYZ).
  • the mass center 70b of the work machine 1 is calculated using the position vector and the external force vector of each mass point converted into the machine reference coordinate system based on the detection value of each sensor. To do.
  • the center of mass 70b of the work machine 1 is derived as follows.
  • r cog mass center vector m i : mass of the i-th mass point
  • r i position vector of the i-th mass point
  • the vector is a three-dimensional vector composed of an X component, a Y component, and a Z component.
  • the X and Y coordinates of the center of mass 70b are evaluated. Therefore, the X coordinate rcogx of the center of mass 70b is calculated as follows.
  • the Y coordinate rcogy of the center of mass 70b is calculated as follows.
  • m is the mass of each mass point 2P, 3P, 10P, 12P and attachment 23 shown in FIG. 4 and is added to the mass m2, m3, m10, m12 of each mass point and the pins 43, 44.
  • the mass of the attachment calculated from the external force vectors F43 and F44 is substituted.
  • the ZMP calculation means 60b can calculate the center of mass 70b by using the detection values of the sensors provided in the respective parts of the work machine 1.
  • the ZMP 70a shown in the first embodiment is calculated, and the two are stabilized. It can also be evaluated as a sex indicator.
  • the ZMP calculating means 60f calculates the ZMP 70a using the equations (3) and (4) and calculates the center of mass 70b using the equations (9) and (10).
  • the stability calculating means 60d can also be configured to use the ZMP 70a and the center of mass 70b and issue different warning commands to both.
  • the display unit 61 may be configured to display using different shapes and colors in the ZMP 70a and the mass center 70b as shown in FIG.
  • a third embodiment of the present invention will be described with reference to FIGS. Unlike the first and second embodiments, the third embodiment predicts near-future behavior of the ZMP position 70, and performs display and warning using the predicted value. This enables a quicker and more flexible response. In the following, differences from the second embodiment will be mainly described.
  • the ZMP prediction means 60c calculates a predicted value 71 of the near future ZMP position.
  • a method for calculating the predicted ZMP position 71 using the current ZMP position 70 and the ZMP position history 72 will be described by taking the case where the center of mass 70b is used as the ZMP position 70 as an example.
  • the moving speed of the ZMP position can be considered to be almost constant. Therefore, by calculating the moving speed of the ZMP position 70 from the current ZMP position 70 (mass center 70b) calculated by the ZMP calculating means 60f and the past ZMP position history 72 stored in the ZMP storage means 60g, the near future.
  • the predicted ZMP position 71 can be predicted.
  • the predicted ZMP position 71 after dt seconds can be calculated by the following equation.
  • x cog [p] is the ZMP position at the p-th calculation point
  • t [p] is the time at the p-th calculation point
  • x cogp is the predicted ZMP position 71 dt seconds after t [p].
  • the stability calculating means 60d Based on the calculated value 70 of the ZMP calculating means 60f and the calculated value 71 of the ZMP predicting means 60c, the stability calculating means 60d performs stability determination.
  • the stability calculation means 60d is composed of a support polygon calculation means 60m and a stability evaluation means 60n as in the first embodiment.
  • the support polygon calculation means 60m is the same as that of the first embodiment, and the setting of the fall warning area N and the calculation of stability of the stability evaluation means 60n are the same as those of the first embodiment.
  • the ZMP position 70 calculated by the ZMP calculating means 60f is used.
  • the determination of the possibility of falling in the stability evaluation means 60n uses both the current ZMP position 70 calculated in the ZMP calculation means 60f and the predicted ZMP position 71 calculated in the ZMP prediction means 60c as indices. The determination of the possibility of falling and the warning command will be described with reference to the flowchart of FIG.
  • the work machine 1 determines that there is stability and does not output a warning command (steps 131, 132, 134).
  • the work machine 1 determines that the possibility of fall has increased, and a preliminary warning command for performing a preliminary warning. Is output (steps 131, 132, 135).
  • Steps 131, 133, 136 If the ZMP position 70 is in the fall warning area N, but the ZMP predicted position 71 is in the normal area J, it is determined that the recovery operation from the low stability state is being performed, and a command indicating that the recovery operation is being performed is output ( Steps 131, 133, 136).
  • the work machine 1 determines that there is a possibility of fall and issues a normal warning command (steps 131, 133, and 137).
  • the predicted ZMP position 71 as an evaluation index in addition to the ZMP position 70, it is possible to evaluate the stability when the current operation is continued, and it is possible to deal with at an earlier stage. In addition, it is possible to determine a case where stability is expected to be restored by the current operation, change the warning method, and reduce operator discomfort due to excessive warning.
  • the stability evaluation means 60n described above determines that there is a possibility of a fall when both the ZMP position 70 and the ZMP predicted position 71 are in the fall warning area N. However, even when both are in the fall warning area N, When the stability of the predicted ZMP position 71 is higher than the stability of the ZMP position 70, it is determined that the stability recovery operation is being performed, and the ZMP position 70 is in the fall warning area N and the predicted ZMP position 71 is in the normal area J You may comprise so that the same instruction
  • the display means 61 displays stability information and tipping warning information as in the first embodiment.
  • the ZMP prediction position 71 which is a difference with 1st Embodiment is demonstrated.
  • the ZMP position 70 and the predicted ZMP position 71 are displayed on the top view 61b of the display device 61d using different colors and different shapes.
  • an arrow may be displayed from the ZMP position 70 to the ZMP predicted position 71.
  • the display device 61d has at least four background colors of normal time, preliminary warning time, recovery operation time, and normal warning time, and the display control means 61c changes the background color in accordance with a command from the stability calculation means 60d.
  • the display device 61d is instructed.
  • the alarm means 63 issues an alarm such as a warning sound in response to a command from the stability calculation means 60d as in the first embodiment.
  • the alarm device 63d of the third embodiment has at least three warning sounds, that is, at the time of preliminary warning, at the time of warning, and at the time of recovery operation, and the alarm control means 63c determines the type of warning command from the stability calculation means 60d. A command is issued to the alarm device 63d so as to generate a corresponding warning sound.
  • the current ZMP position 70 and the predicted ZMP position 71 are used in the stability calculation means 60d and the display means 61 .
  • the ZMP history stored in the ZMP storage means 60g The value 72 may be used.
  • the possibility of falling can be determined by replacing the ZMP position 70 in the flowchart of FIG.
  • the actuator speed is converted into the angular speed of each rotation angle by link calculation, and the mass position after dt seconds is calculated from the current posture and the calculated angular speed.
  • the predicted ZMP position 71 after dt seconds can be calculated.
  • the lever operation amount sensor 51 for detecting the lever operation amount is required.
  • the predicted value can be calculated in conjunction with the operator's input, and the warning is given as the operator's operation feeling. Can be better matched.
  • FIG. 16 is a schematic configuration diagram illustrating the fourth embodiment.
  • recording / reproducing means 60h for recording / reproducing the work content and the ZMP position during the work is provided.
  • a lever operation amount sensor 51 for detecting the input amount from the operator to each drive actuator 11, 13, 15 of the work machine 1 is provided.
  • the lever operation amount sensor 51 for example, an angle sensor that detects the inclination of the operation lever 50 or a pressure sensor that detects a pilot pressure determined by a pressure reducing valve provided inside the operation lever 50 is used.
  • the recording / reproducing means 60h includes a display switching input means 56 for an operator to give a display switching command between a display during operation and a display during reproduction, a work recording means 60j for recording work contents and a ZMP position during work, and a display switching input.
  • the display control means 61c and the display switching means 60k for instructing the alarm control means 63d in response to an input from the means 56 are configured.
  • the work recording means 60j records work contents and ZMP positions for a predetermined period.
  • the period for storing the record may be a preset time such as 10 minutes or 1 day, or may be determined from engine start to engine stop.
  • the work recording means 60j records the work radius calculated from the detection value of the lever operation amount sensor 51, the rotation angle of each rotary joint, the bucket external force calculated by the link calculation means 60a, and the posture of the work front as work contents. Further, as the stability information, the ZMP position 70 calculated by the ZMP calculating means 60f and the stability ⁇ calculated by the stability calculating means 60d are recorded. As warning information, various setting information such as a warning command and a fall warning area N is recorded. The warning command and various setting information may be recorded at all times during a predetermined period like the work contents and ZMP position, or before and after the warning command is issued or before and after the setting is changed. Only recording may be performed. The amount of data to be recorded can be reduced by limiting the recording period.
  • the display switching means 60k Based on the input from the display switching input means 56, the display switching means 60k recognizes which of the display during operation and the display during reproduction is selected, and displays the display during operation with respect to the display control means 61c and the alarm control means 63d. Command to switch display during playback.
  • the display means 61 switches between the display during operation and the display during reproduction according to a command from the display switching means 60k.
  • the display during operation is the same as in the first embodiment. Hereinafter, display during playback will be described.
  • FIG. 17 shows an example of display during playback.
  • the stability information and the fall warning information similar to those during driving are displayed.
  • the screen background color and warning message are the same as those displayed during operation.
  • FIG. 17 shows an example in which the work machine 1 is operated using two levers. For each lever, the input direction of the operation lever is represented by the direction of the arrow, and the operation amount is represented by the size or length of the arrow. Bucket external force, work radius, road surface inclination, etc. are displayed as work environment information.
  • the operation of the work machine 1 is expressed by displaying the lever operation amount and the turning radius.
  • a three-dimensional illustration showing an overview of the work machine 1 is displayed, and the illustration is based on the recorded rotation angle. You may comprise so that an actual operation
  • the ZMP position history 72 in the reproduction period is displayed as a work result as shown in FIG.
  • the stability display bar 61h displays an average value of stability during the reproduction period.
  • the stability information is mainly displayed during the operation shown in FIG. 5, the operator can accurately grasp the past work state by displaying additional information such as the lever operation amount and the turning radius during reproduction. be able to. Moreover, the stability in a series of work can be evaluated by displaying the work result.
  • the recording / reproducing means As another use form of the recording / reproducing means, a case where the work status is confirmed in a place other than on the work machine 1 can be considered. In such a case, the information recorded in the work recording means 60j is taken out from the work machine 1 using an external recording medium or wireless, and is reproduced on a display device provided in a place other than the work machine 1. May be.
  • the display at the time of reproduction can be used not only for grasping and investigating the occurrence situation and cause in the event of an accident, but also for work management, education, enlightenment activities, etc. by operation safety evaluation.
  • the safety device of the present invention includes a control device including a state quantity detection unit that detects the posture of the work machine, a ZMP calculation unit that calculates the ZMP position of the work machine, and a display device.
  • a top view of the machine is displayed, and a support polygon formed by a contact point between the work machine and the ground surface and the ZMP position are displayed on the top view.
  • the display device of the present invention displays the information by rotating between the traveling body and the revolving body in the top view according to the turning angle. Thereby, it is possible to recognize the relationship between the support polygon and the ZMP position and the work front direction during the work including the turning operation. In addition, the traveling direction can be recognized.
  • the safety device of the present invention has ZMP storage means for storing the history of the ZMP position for a predetermined time set in advance, and displays the ZMP position history. As a result, a change in the ZMP position can be recognized, and an increase or decrease in stability due to the current operation can be recognized.
  • the display device of the present invention displays the current ZMP position calculated by the ZMP calculating means and the ZMP position history in different forms. As a result, the relationship between the past and present ZMP positions can be more easily recognized.
  • the safety device of the present invention has a ZMP prediction means for predicting the behavior of the ZMP position, and displays the calculation result of the ZMP prediction means. As a result, the operator can recognize the ZMP position when the current operation is continued, and it is possible to cope with it at an earlier stage.
  • the display device of the present invention displays the current ZMP position calculated by the ZMP calculating means and the ZMP predicted position calculated by the ZMP predicting means in different forms. This makes it possible to more easily recognize the relationship between the current and future ZMP positions.
  • the normal region is set in the center of the support polygon formed by the contact point between the work machine and the ground surface
  • the fall warning region is set in the periphery
  • the ZMP position is in the fall warning region.
  • a stability calculation means for issuing a warning command in the case, the fall warning area is displayed on a top view displayed on the display device, and a warning display or background color is displayed when a warning command is issued from the stability calculation means. Make changes. Thereby, even if an operator does not watch a display screen, it becomes possible to grasp
  • the stability calculation means of the present invention uses the current ZMP position calculated by the ZMP calculation means and the ZMP history position stored in the ZMP storage means. Thereby, it is possible to evaluate whether or not the stability is improved by the current work, and it is possible to avoid an excessive warning.
  • the stability calculation means of the present invention uses the current ZMP position calculated by the ZMP calculation means and the ZMP prediction position calculated by the ZMP prediction means. This makes it possible to evaluate the stability when the current operation is continued, to enable warning at an earlier stage, and to avoid excessive warning.
  • the stability calculation means of the present invention calculates the stability of the work machine from the ratio of the distance from the center of the support polygon to the ZMP position and the distance from the center of the support polygon to the periphery of the support polygon, The calculated stability is displayed on the display device. This makes it possible to easily recognize the increase or decrease in stability.
  • the safety device of the present invention includes work content determination means for determining which of the plurality of preset work patterns the current work corresponds to from a change in posture of the work machine, and the stability calculation means includes: A fall warning area preset for each work pattern based on the judgment result of the work content judgment means is used. Thereby, it is possible to set a fall warning area suitable for each work, and it is possible to keep the work efficiency higher.
  • the safety device of the present invention has an alarm means, and outputs a sound or a sound when a warning command is issued from the stability calculation means. Thereby, even when the operator is not looking at the display device, it is possible to recognize the possibility of falling, and it is possible to allow surrounding workers to recognize the possibility of falling.
  • the alarm means of the present invention changes the sound or voice according to the stability calculated by the stability calculation means. Therefore, even when the operator is not looking at the display device, the stability can be accurately recognized, and the surrounding workers can be accurately recognized.
  • the safety device of the present invention has a detecting means for detecting a command value to the drive actuator, stores the command value to the drive actuator and the ZMP position for a predetermined time, and records and reproduces the work situation. Means for displaying a command value at the time of reproduction, and performing a display different from that during work. As a result, it becomes possible to grasp the situation and cause of the accident and to investigate and investigate it, and to perform work management, education, and enlightenment activities by evaluating the safety of operation.
  • the fall warning area of the work machine and the current ZMP position are displayed on the top view of the display device, so that it is unified even during work in which various postures change. It is possible to evaluate the stability with a typical index, and to make the operator easily and accurately recognize the stability of the work machine instantaneously.

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Abstract

L'invention porte sur un dispositif de sécurité de machine de travail, qui rend instantanément, facilement et avec précision un opérateur conscient de la stabilité actuelle lors de la réalisation d'un travail, tel que des opérations d'assemblage avant, et des opérations de rotation. Dans un dispositif de sécurité de machine de travail, un dispositif de commande comporte : un moyen de calcul de point de moment nul (60f) qui utilise des informations de position, des informations d'accélération et des informations de force externe pour chaque partie mobile d'un corps et d'un corps en déplacement, tel qu'un assemblage avant, pour calculer des coordonnées de point de moment nul ; et un moyen de calcul de stabilité (60d) qui calcule un polygone de sustentation formé par une pluralité de points de contact avec le sol pour le sol sous la machine de travail, et qui génèrent une alarme d'inclinaison lorsque le point de moment nul est contenu dans la zone d'alarme formée à l'intérieur de la périphérie du polygone de sustentation. L'invention porte également sur un dispositif d'affichage (61d) qui affiche la vue de dessus de la machine de travail et la position de point de moment nul de la machine de travail par rapport au polygone de sustentation. Le moyen de calcul de point de moment nul et le moyen de calcul de stabilité calculent et affichent le polygone de sustentation, qui comprend le point de moment nul et la zone d'alarme, et génèrent une alarme d'inclinaison lorsque la position de point de moment nul calculée est contenue dans la zone d'alarme formée à l'intérieur de la périphérie du polygone de sustentation.
PCT/JP2011/061886 2010-05-24 2011-05-24 Dispositif de sécurité de machine de travail WO2011148946A1 (fr)

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KR1020127030464A KR101790150B1 (ko) 2010-05-24 2011-05-24 작업 기계의 안전 장치
EP11786645.9A EP2578757B1 (fr) 2010-05-24 2011-05-24 Machine de travail comportant un dispositif de sécurité
JP2012517279A JP5491627B2 (ja) 2010-05-24 2011-05-24 作業機械の安全装置
CN201180024959.3A CN102906347B (zh) 2010-05-24 2011-05-24 作业机械的安全装置
US13/699,094 US8768581B2 (en) 2010-05-24 2011-05-24 Work machine safety device

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JP2010-118584 2010-05-24

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EP2578757A1 (fr) 2013-04-10
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US20130066527A1 (en) 2013-03-14

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